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Merge pull request #7039 from TonyBlit/gps_rescue_positive_seconds 

GPS Rescue: sanity check counters are now always in positive seconds
This commit is contained in:
Michael Keller 2018-11-05 22:37:48 +13:00 committed by GitHub
parent a9cef3e244 35f6c30289
commit 56b1c08561
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 6 deletions
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12
src/main/flight/gps_rescue.c
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@ -314,8 +314,8 @@ static void performSanityChecks()
// Initialize internal variables each time GPS Rescue is started
const uint32_t currentTimeUs = micros();
previousTimeUs = currentTimeUs;
secondsStalled = 0;
secondsLowSats = 0;
secondsStalled = 10; // Start the count at 10 to be less forgiving at the beginning
secondsLowSats = 5; // Start the count at 5 to be less forgiving at the beginning
return;
}
@ -344,15 +344,15 @@ static void performSanityChecks()
previousTimeUs = currentTimeUs;
secondsStalled = constrain(secondsStalled + (rescueState.sensor.groundSpeed < 150) ? 1 : -1, -10, 10);
secondsStalled = constrain(secondsStalled + (rescueState.sensor.groundSpeed < 150) ? 1 : -1, 0, 20);
if (secondsStalled == 10) {
if (secondsStalled == 20) {
rescueState.failure = RESCUE_STALLED;
}
secondsLowSats = constrain(secondsLowSats + (rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1, -5, 5);
secondsLowSats = constrain(secondsLowSats + (rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1, 0, 10);
if (secondsLowSats == 5) {
if (secondsLowSats == 10) {
rescueState.failure = RESCUE_FLYAWAY;
}
}